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comparison native/Falcon/HapticManager.h @ 5:d66dd5880081

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Added support for Falcon Haptic device and Tablet/Mouse as haptic device
author Fiore Martin <fiore@eecs.qmul.ac.uk>
date Tue, 10 Jul 2012 22:39:37 +0100
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4:2c67ac862920 5:d66dd5880081
1 /*
2 CCmI Editor - A Collaborative Cross-Modal Diagram Editing Tool
3
4 Copyright (C) 2011 Queen Mary University of London (http://ccmi.eecs.qmul.ac.uk/)
5
6 This program is free software: you can redistribute it and/or modify
7 it under the terms of the GNU General Public License as published by
8 the Free Software Foundation, either version 3 of the License, or
9 (at your option) any later version.
10
11 This program is distributed in the hope that it will be useful,
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 GNU General Public License for more details.
15
16 You should have received a copy of the GNU General Public License
17 along with this program. If not, see <http://www.gnu.org/licenses/>.
18 */
19 #pragma once
20 #include "CollectionsManager.h"
21 #include <HAPI/AnyHapticsDevice.h>
22 #include <HAPI/GodObjectRenderer.h>
23
24 #include <HAPI/HapticPointSet.h>
25 #include <HAPI/HapticLineSet.h>
26 #include <HAPI/HapticSpring.h>
27 #include <HAPI/HapticShapeConstraint.h>
28
29 #include <GL/gl.h>
30 #include <GL/glu.h>
31 #include <GL/glut.h>
32
33
34
35 class HapticManager
36 {
37 CollectionsManager *cm ;
38 void (*executeCommand)(const jchar cmd, const jint ID, const jdouble startx, const jdouble starty, const jdouble endx, const jdouble endy);
39 HAPI::AnyHapticsDevice *hd;
40 /* The force effect in use. Contains 0 if there is no force effect in use. */
41 H3DUtil::AutoRef<HAPI::HAPIForceEffect> force_effect;
42 /* the current set of haptic lines. It's used as argument when adding a constraint effect to the hapitc *
43 * device and it's filled up with the edges of the current diagram through the collection manager */
44 vector< HAPI::Collision::LineSegment> line_set;
45 vector<HAPI::Collision::Point> point_set;
46 map<HAPI::Collision::Point*,int> point_id_map;
47 map<HAPI::Collision::LineSegment*,int> line_id_map;
48 /* in order not to utter continuosly the touched node/edge name, keep track of the node/edge that was *
49 * last touched and avoid to utter its name unless the proxy touches another node/edge or goes far enough */
50 HAPI::Collision::Point* last_touched_point;
51 HAPI::Collision::LineSegment* last_touched_line;
52 HAPI::Vec3 proxy_pos;
53 HAPI::HAPIInt32 pressed_button;
54
55 enum {STICKY, LOOSE} magnetic_mode;
56 bool magnetic_mode_changed;
57
58 enum {START_DRAGGING, DRAGGING, RELEASED} pickup_mode;
59 HAPI::Collision::Point *pickedup_point;
60 HAPI::Collision::LineSegment *pickedup_line;
61 HAPI::Vec3 pickup_line_pos;
62 HAPI::Vec3 last_dragging_pos;
63
64 int attract_to;
65 enum {NO_ATTRACTION ,STOP_ATTRACTION, ACTIVE} attraction_mode;
66
67 bool object_unselected;
68
69 /* how bigger graphic coordinates are than haptic coordinates */
70 static const int GRAPHIC_SCALE;
71 static const int SPRING_FORCE_FACTOR;
72 static const int LINE_FORCE_FACTOR_LOOSE;
73 static const int LINE_FORCE_FACTOR_STICKY;
74 static const int POINT_FORCE_FACTOR;
75 static const double POINT_COLLISION_THRESHOLD;
76 static const double LINE_COLLISION_THRESHOLD;
77 static const double DRAGGING_SOUND_THRESHOLD;
78
79 /* commands sent to the java thread */
80 static const char MOVE_CMD;
81 static const char PLAY_SOUND_CMD;
82 static const char SPEAK_NAME_CMD;
83 static const char PICKUP_CMD;
84 static const char SPEAK_INFO_CMD;
85 static const char SELECT_CMD;
86 static const char UNSELECT_CMD;
87
88 /* arguments for PLAY_SOUND_CMD */
89 static const int LOOSE_MODE_SOUND;
90 static const int STICKY_MODE_SOUND;
91 static const int DRAGGING_SOUND;
92
93 static const HAPI::HAPIInt32 FRONT_BUTTON;
94 static const HAPI::HAPIInt32 LEFT_BUTTON;
95 static const HAPI::HAPIInt32 RIGHT_BUTTON;
96 static const HAPI::HAPIInt32 REAR_BUTTON;
97 static const HAPI::HAPIInt32 NO_BUTTON;
98 public:
99 HapticManager(CollectionsManager * cManager, void (*func)(const jchar cmd, const jint ID, const jdouble startx, const jdouble starty, const jdouble endx, const jdouble endy));
100
101 /* try and initialize the haptic device, return false if the initialization fails */
102 bool init(void);
103
104 /* drawing routines (both graphically and haptically) */
105 void drawCursor(void);
106 void drawDiagram(bool redrawHapticsScene,bool pickup, int attract_to);
107
108 /* collisions routines: check if the proxy is touching a node or an edge */
109 bool checkNodeCollision(void);
110 bool checkEdgeCollision(void);
111
112 /* check if an unselection command must be issued. Commands cannot be issued in the drawDiagram *
113 * as it might possibly result in a deadlock. Therefore in drawDiagram the inner flag variable *
114 * object_unselected is set if necessary, and then when this method is called, the command is *
115 * issued if the flad was set to true */
116 bool checkUnselection(void);
117
118 /* check buttons routine */
119 bool checkButtons(void);
120
121 /* routine that plays chain sound during motion if an object is being dragged */
122 bool checkMotion();
123
124 /* release the allocated resources */
125 void dispose(void);
126
127 /* a null id value for Java nodes and edges. The id used for nodes and edges is *
128 * the hashCode of the Java object, therefore a zero value will work for NO_ID */
129 static const int NO_ID;
130 };